BLE RSS Measurements Dataset for Research on Accurate Indoor Positioning

Some Design Considerations in Passive Indoor Positioning Systems

User location is becoming an increasingly common and important feature for a wide range of services. Smartphone owners increasingly use location-based services, as service providers add context-enhanced functionality such as car-driving routes, COVID-19 tracking, crowdedness indicators, and suggestions for nearby points of interest. However, positioning a user indoors is still problematic due to the fading of the radio signal caused by multipath and shadowing, where both have complex dependencies on the indoor environment. Location fingerprinting is a common positioning method where Radio Signal Strength (RSS) measurements are compared to a reference database of previously stored RSS values. Due to the size of the reference databases, these are often stored in the cloud. However, server-side positioning computations make preserving the user's privacy problematic. Given the assumption that a user does not want to communicate his/her location, we pose the question of whether a passive system with client-side computations can substitute fingerprinting-based systems, which commonly use active communication with a server. We compared two passive indoor location systems based on multilateration and sensor fusion using an Unscented Kalman Filter (UKF) with fingerprinting and show how these may provide accurate indoor positioning without compromising the user's privacy in a busy office environment.

Mobile device-based Bluetooth Low Energy Database for range estimation in indoor environments

The demand to enhance distance estimation and location accuracy in a variety of Non-Line-of-Sight (NLOS) indoor environments has boosted investigation into infrastructure-less ranging and collaborative positioning approaches. Unfortunately, capturing the required measurements to support such systems is tedious and time-consuming, as it requires simultaneous measurements using multiple mobile devices, and no such database are available in literature. This article presents a Bluetooth Low Energy (BLE) database, including Received-Signal-Strength (RSS) and Ground-Truth (GT) positions, for indoor positioning and ranging applications, using mobile devices as transmitters and receivers. The database is composed of three subsets: one devoted to the calibration in an indoor scenario; one for ranging and collaborative positioning under Non-Line-of-Sight conditions; and one for ranging and collaborative positioning in real office conditions. As a validation of the dataset, a baseline analysis for data visualization, data filtering and collaborative distance estimation applying a path-loss based on the Levenberg-Marquardt Least Squares Trilateration method are included.

UJAmI Location: A Fuzzy Indoor Location System for the Elderly

Due to the large number of elderly people with physical and cognitive issues, there is a strong need to provide indoor location systems that help caregivers monitor as many people as possible and with the best quality possible. In this paper, a fuzzy indoor location methodology is proposed in a smart environment based on mobile devices and Bluetooth Low Energy (BLE) beacons where a set of Received Signal Strength Indicators (RSSI) is received by mobile devices worn by the inhabitants. The use of fuzzy logic and a fuzzy linguistic approach is proposed to deal with the imprecise nature of the RSSI values, which are influenced by external factors such as radio waves, causing significant fluctuations. A case study carried out at the Smart Lab of the University of Jaén (UJAmI Smart Lab) is presented to demonstrate the effectiveness of the proposed methodology, where our proposal is compared with a non-fuzzy logic approach, obtaining an accuracy of 91.63%, approximately 10 points higher than the methodology without using fuzzy logic. Finally, our theoretical proposal is accompanied by a description of the UJAmI Location system, which applies the theory to the functionality of locating elderly people in indoor environments.

OutFin, a multi-device and multi-modal dataset for outdoor localization based on the fingerprinting approach

In recent years, fingerprint-based positioning has gained researchers' attention since it is a promising alternative to the Global Navigation Satellite System and cellular network-based localization in urban areas. Despite this, the lack of publicly available datasets that researchers can use to develop, evaluate, and compare fingerprint-based positioning solutions constitutes a high entry barrier for studies. As an effort to overcome this barrier and foster new research efforts, this paper presents OutFin, a novel dataset of outdoor location fingerprints that were collected using two different smartphones. OutFin is comprised of diverse data types such as WiFi, Bluetooth, and cellular signal strengths, in addition to measurements from various sensors including the magnetometer, accelerometer, gyroscope, barometer, and ambient light sensor. The collection area spanned four dispersed sites with a total of 122 reference points. Each site is different in terms of its visibility to the Global Navigation Satellite System and reference points' number, arrangement, and spacing. Before OutFin was made available to the public, several experiments were conducted to validate its technical quality.

Factor Optimization for the Design of Indoor Positioning Systems Using a Probability-Based Algorithm

Indoor Positioning Systems (IPSs) are designed to provide solutions for location-based services. Wireless local area network (WLAN)-based positioning systems are the most widespread around the globe and are commonly found to have a ready-to-use infrastructure composed mostly of access points (APs). They advertise useful information, such as the received signal strength (RSS), that is processed by adequate location algorithms, which are not always capable of achieving the desired localization error only by themselves. In this sense, this paper proposes a new method to improve the accuracy of IPSs by optimizing the arrangement of APs over the environment using an enhanced probability-based algorithm. From the assumption that a log-distance path loss model can reasonably describe, on average, the distribution of RSS throughout the environment, we build a simulation framework to analyze the impact, on the accuracy, of the main factors that constitute the positioning algorithm, such as the number of reference points (RPs) and the number of samples of RSS collected per test point. To demonstrate the applicability of the proposed solution, a real-world testbed dataset is used for validation. The obtained results for accuracy show that the trends verified via simulation strongly correlate to the verified in the dataset processing when allied with an optimal configuration of APs. This indicates our method is capable of providing an optimal factor combination—through early simulations—for the design of more efficient IPSs that rely on a probability-based positioning algorithm.

Position Tracking Techniques Using Multiple Receivers for Anti-Drone Systems

The need for drone traffic control management has emerged as the demand for drones increased. Particularly, in order to control unauthorized drones, the systems to detect and track drones have to be developed. In this paper, we propose the drone position tracking system using multiple Bluetooth low energy (BLE) receivers. The proposed system first estimates the target’s location, which consists of the distance and angle, while using the received signal strength indication (RSSI) signals at four BLE receivers and gradually tracks the target based on the estimated distance and angle. We propose two tracking algorithms, depending on the estimation method and also apply the memory process, improving the tracking performance by using stored previous movement information. We evaluate the proposed system’s performance in terms of the average number of movements that are required to track and the tracking success rate.

BLE-GSpeed: A New BLE-Based Dataset to Estimate User Gait Speed

To estimate the user gait speed can be crucial in many topics, such as health care systems, since the presence of difficulties in walking is a core indicator of health and function in aging and disease. Methods for non-invasive and continuous assessment of the gait speed may be key to enable early detection of cognitive diseases such as dementia or Alzheimer’s disease. Wearable technologies can provide innovative solutions for healthcare problems. Bluetooth Low Energy (BLE) technology is excellent for wearables because it is very energy efficient, secure, and inexpensive. In this paper, the BLE-GSpeed database is presented. The dataset is composed of several BLE RSSI measurements obtained while users were walking at a constant speed along a corridor. Moreover, a set of experiments using a baseline algorithm to estimate the gait speed are also presented to provide baseline results to the research community.

Survey of Decentralized Solutions with Mobile Devices for User Location Tracking, Proximity Detection, and Contact Tracing in the COVID-19 Era

Some of the recent developments in data science for worldwide disease control have involved research of large-scale feasibility and usefulness of digital contact tracing, user location tracking, and proximity detection on users’ mobile devices or wearables. A centralized solution relying on collecting and storing user traces and location information on a central server can provide more accurate and timely actions than a decentralized solution in combating viral outbreaks, such as COVID-19. However, centralized solutions are more prone to privacy breaches and privacy attacks by malevolent third parties than decentralized solutions, storing the information in a distributed manner among wireless networks. Thus, it is of timely relevance to identify and summarize the existing privacy-preserving solutions, focusing on decentralized methods, and analyzing them in the context of mobile device-based localization and tracking, contact tracing, and proximity detection. Wearables and other mobile Internet of Things devices are of particular interest in our study, as not only privacy, but also energy-efficiency, targets are becoming more and more critical to the end-users. This paper provides a comprehensive survey of user location-tracking, proximity-detection, and digital contact-tracing solutions in the literature from the past two decades, analyses their advantages and drawbacks concerning centralized and decentralized solutions, and presents the authors’ thoughts on future research directions in this timely research field.

Multi-Slot BLE Raw Database for Accurate Positioning in Mixed Indoor/Outdoor Environments

The technologies and sensors embedded in smartphones have contributed to the spread of disruptive applications built on top of Location Based Services (LBSs). Among them, Bluetooth Low Energy (BLE) has been widely adopted for proximity and localization, as it is a simple but efficient positioning technology. This article presents a database of received signal strength measurements (RSSIs) on BLE signals in a real positioning system. The system was deployed on two buildings belonging to the campus of the University of Extremadura in Badajoz. the database is divided into three different deployments, changing in each of them the number of measurement points and the configuration of the BLE beacons. the beacons used in this work can broadcast up to six emission slots simultaneously. Fingerprinting positioning experiments are presented in this work using multiple slots, improving positioning accuracy when compared with the traditional single slot approach.

Development of a real-time indoor location system using bluetooth low energy technology and deep learning to facilitate clinical applications

PURPOSE

An indoor, real-time location system (RTLS) can benefit both hospitals and patients by improving clinical efficiency through data-driven optimization of procedures. Bluetooth-based RTLS systems are cost-effective but lack accuracy because Bluetooth signal is subject to significant fluctuation. We aim to improve the accuracy of RTLS using the deep learning technique.

METHODS

We installed a Bluetooth sensor network in a three-floor clinic building to track patients, staff, and devices. The Bluetooth sensors measured the strength of the signal broadcasted from Bluetooth tags, which was fed into a deep neural network to calculate the location of the tags. The proposed deep neural network consists of a long short-term memory (LSTM) network and a deep classifier for tracking moving objects. Additionally, a spatial-temporal constraint algorithm was implemented to further increase the accuracy and stability of the results. To train the neural network, we divided the building into 115 zones and collected training data in each zone. We further augmented the training data to generate cross-zone trajectories, mimicking the real-world scenarios. We tuned the parameters for the proposed neural network to achieve relatively good accuracy.

RESULTS

The proposed deep neural network achieved an overall accuracy of about 97% for tracking objects in each individual zone in the whole three-floor building, 1.5% higher than the baseline neural network that was proposed in an earlier paper, when using 10 s of signals. The accuracy increased with the density of Bluetooth sensors. For tracking moving objects, the proposed neural network achieved stable and accurate results. When latency is less of a concern, we eliminated the effect of latency from the accuracy and gained an accuracy of 100% for our testing trajectories, significantly improved from the baseline method.

CONCLUSIONS

The proposed deep neural network composed of a LSTM, a deep classifier and a posterior constraint algorithm significantly improved the accuracy and stability of RTLS for tracking moving objects.

Detecting and Correcting for Human Obstacles in BLE Trilateration Using Artificial Intelligence

One of the popular candidates in wireless technology for indoor positioning is Bluetooth Low Energy (BLE). However, this technology faces challenges related to Received Signal Strength Indicator (RSSI) fluctuations due to the behavior of the different advertising channels and the effect of human body shadowing among other effects. In order to mitigate these effects, the paper proposes and implements a dynamic Artificial Intelligence (AI) model that uses the three different BLE advertising channels to detect human body shadowing and compensate the RSSI values accordingly. An experiment in an indoor office environment is conducted. 70% of the observations are randomly selected and used for training and the remaining 30% are used to evaluate the algorithm. The results show that the AI model can properly detect and significantly compensate RSSI values for a dynamic blockage caused by a human body. This can significantly improve the RSSI-based ranges and the corresponding positioning accuracies.

A Meta-Review of Indoor Positioning Systems

An accurate and reliable Indoor Positioning System (IPS) applicable to most indoor scenarios has been sought for many years. The number of technologies, techniques, and approaches in general used in IPS proposals is remarkable. Such diversity, coupled with the lack of strict and verifiable evaluations, leads to difficulties for appreciating the true value of most proposals. This paper provides a meta-review that performed a comprehensive compilation of 62 survey papers in the area of indoor positioning. The paper provides the reader with an introduction to IPS and the different technologies, techniques, and some methods commonly employed. The introduction is supported by consensus found in the selected surveys and referenced using them. Thus, the meta-review allows the reader to inspect the IPS current state at a glance and serve as a guide for the reader to easily find further details on each technology used in IPS. The analyses of the meta-review contributed with insights on the abundance and academic significance of published IPS proposals using the criterion of the number of citations. Moreover, 75 works are identified as relevant works in the research topic from a selection of about 4000 works cited in the analyzed surveys.